0,0 → 1,210 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <inttypes.h> |
#include <avr/io.h> |
#include <avr/interrupt.h> |
#include "eeprom.h" |
#include "analog.h" |
|
// for degugging! |
#include "rc.h" |
|
#ifdef USE_MK3MAG |
#include "mk3mag.h" |
#endif |
|
volatile uint16_t CountMilliseconds = 0; |
volatile uint8_t runFlightControl = 0; |
volatile uint16_t cntKompass = 0; |
volatile uint16_t BeepTime = 0; |
volatile uint16_t BeepModulation = 0xFFFF; |
|
#ifdef USE_NAVICTRL |
volatile uint8_t SendSPI = 0; |
#endif |
|
/***************************************************** |
* Initialize Timer 0 |
*****************************************************/ |
// timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor |
// Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate |
void timer0_init(void) { |
uint8_t sreg = SREG; |
|
// disable all interrupts before reconfiguration |
cli(); |
|
// Configure speaker port as output. |
|
if(BoardRelease == 10) { // Speaker at PD2 |
DDRD |= (1<<DDD2); |
PORTD &= ~(1<<PORTD2); |
} else { // Speaker at PC7 |
DDRC |= (1<<DDC7); |
PORTC &= ~(1<<PORTC7); |
} |
|
// set PB3 and PB4 as output for the PWM used as offset for the pressure sensor |
DDRB |= (1<<DDB4)|(1<<DDB3); |
PORTB &= ~((1<<PORTB4)|(1<<PORTB3)); |
|
// Timer/Counter 0 Control Register A |
|
// Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1) |
// Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0) |
// Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0) |
TCCR0A &= ~((1<<COM0A0)|(1<<COM0B0)); |
TCCR0A |= (1<<COM0A1)|(1<<COM0B1)|(1<<WGM01)|(1<<WGM00); |
|
// Timer/Counter 0 Control Register B |
|
// set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz |
// i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
// hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz |
|
// divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
TCCR0B &= ~((1<<FOC0A)|(1<<FOC0B)|(1<<WGM02)); |
TCCR0B = (TCCR0B & 0xF8)|(0<<CS02)|(1<<CS01)|(0<<CS00); |
|
// initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4 |
OCR0A = 0; // for PB3 |
OCR0B = 120; // for PB4 |
|
// init Timer/Counter 0 Register |
TCNT0 = 0; |
|
// Timer/Counter 0 Interrupt Mask Register |
// enable timer overflow interrupt only |
TIMSK0 &= ~((1<<OCIE0B)|(1<<OCIE0A)); |
TIMSK0 |= (1<<TOIE0); |
|
SREG = sreg; |
} |
|
/*****************************************************/ |
/* Interrupt Routine of Timer 0 */ |
/*****************************************************/ |
ISR(TIMER0_OVF_vect) { // 9765.625 Hz |
static uint8_t cnt_1ms = 1,cnt = 0; |
uint8_t Beeper_On = 0; |
|
#ifdef USE_NAVICTRL |
if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
#endif |
|
if(!cnt--) { // every 10th run (9.765kHz/10 = 976Hz) |
cnt = 9; |
cnt_1ms^=1; |
if(!cnt_1ms) { |
runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
} |
CountMilliseconds++; // increment millisecond counter |
} |
|
// beeper on if duration is not over |
if(BeepTime) { |
BeepTime--; // decrement BeepTime |
if(BeepTime & BeepModulation) Beeper_On = 1; |
else Beeper_On = 0; |
} |
else { // beeper off if duration is over |
Beeper_On = 0; |
BeepModulation = 0xFFFF; |
} |
|
// if beeper is on |
if(Beeper_On) { |
// set speaker port to high. |
if(BoardRelease == 10) PORTD |= (1<<PORTD2); // Speaker at PD2 |
else PORTC |= (1<<PORTC7); // Speaker at PC7 |
} else { // beeper is off |
// set speaker port to low |
if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2 |
else PORTC &= ~(1<<PORTC7);// Speaker at PC7 |
} |
|
#ifndef USE_NAVICTRL |
// update compass value if this option is enabled in the settings |
if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) { |
#ifdef USE_MK3MAG |
MK3MAG_Update(); // read out mk3mag pwm |
#endif |
} |
#endif |
} |
|
// ----------------------------------------------------------------------- |
uint16_t SetDelay (uint16_t t) { |
return(CountMilliseconds + t - 1); |
} |
|
// ----------------------------------------------------------------------- |
int8_t CheckDelay(uint16_t t) { |
return(((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit |
} |
|
// ----------------------------------------------------------------------- |
void Delay_ms(uint16_t w) { |
uint16_t t_stop = SetDelay(w); |
while (!CheckDelay(t_stop)); |
} |
|
// ----------------------------------------------------------------------- |
void Delay_ms_Mess(uint16_t w) { |
uint16_t t_stop; |
t_stop = SetDelay(w); |
while (!CheckDelay(t_stop)) { |
if(analogDataReady) { |
analogDataReady = 0; |
analog_start(); |
} |
} |
} |